End effector and systems including a wear indicator based on mixing

ABSTRACT

End effectors and systems including end effectors configured to provide colorimetric indicia of a wear state of the end effector are described. In one embodiment, the end effector includes: a base portion coupleable to a motor; a chamber including an optically translucent window and a chamber interior; and a flowable material disposed in the chamber interior and having a color. The end effector is configured to provide colorimetric indicia of a wear state of the end effector based at least in part on mixing of the flowable material.

SUMMARY

In an aspect, the present disclosure provides an end effector generally including a base portion coupleable to a motor; a chamber including an optically translucent window and a chamber interior; and a flowable material disposed in the chamber interior and having a color, wherein the end effector is configured to provide colorimetric indicia of a wear state of the end effector based at least in part on mixing of the flowable material.

In accordance with any of the embodiments disclosed herein, the flowable material may include a first flowable material having a first color, and a second flowable material having a second color different from the first color. In accordance with any of the embodiments disclosed herein, in an initial state the first flowable material may be disposed in a first portion of the chamber interior and the second flowable material may be disposed in a second portion of the chamber interior different from the first portion. In accordance with any of the embodiments disclosed herein, the first flowable material and the second flowable material may be configured to mix due to movement of the end effector.

In accordance with any of the embodiments disclosed herein, the flowable material may be chosen from a powder, a plurality of beads, a viscous fluid, and combinations thereof.

In accordance with any of the embodiments disclosed herein, includes a barrier defining at least in part a first portion of the chamber interior and a second portion of the chamber interior different than the first portion. In accordance with any of the embodiments disclosed herein, the second portion of the chamber interior may be separated from the first portion of the chamber interior at least in part by the barrier, and wherein the barrier may be breakable by a user such that when the barrier is broken the first portion of the chamber interior and the second portion of the chamber interior are in fluid communication. In accordance with any of the embodiments disclosed herein, the barrier may include one or more apertures configured to allow passage of the flowable material therethrough. In accordance with any of the embodiments disclosed herein, in an initial state the flowable material may be disposed in the first portion of the chamber interior. In accordance with any of the embodiments disclosed herein, in an initial state the second portion of the chamber interior may be free of the flowable material. In accordance with any of the embodiments disclosed herein, the flowable material may be configured to enter the second portion of the chamber interior due to motion of the end effector.

In accordance with any of the embodiments disclosed herein, at least a portion of the chamber may be disposed adjacent to a periphery of the base portion.

In accordance with any of the embodiments disclosed herein, a viewing portion of the chamber interior may be visible to a user through the optically translucent window.

In accordance with any of the embodiments disclosed herein, the end effector comprises a tag having a tag color representative of the colorimetric indicia of a wear state of the end effector. In accordance with any of the embodiments disclosed herein, the tag color may be a color of the flowable material in a mixed state.

In another aspect, the present disclosure provides a system generally including an appliance including a motor; and an end effector configured to receive motion of the motor, the end effector including a base portion coupleable to the motor; a chamber including an optically translucent window and a chamber interior; and a flowable material disposed in the chamber interior and having a color, wherein the end effector is configured to provide colorimetric indicia of a wear state of the end effector based at least in part on mixing of the flowable material.

In accordance with any of the embodiments disclosed herein, the end effector may be configured to receive motion from the motor about a central axis of the end effector, and at least a portion of the chamber may be disposed adjacent to a periphery of the end effector distal the central axis.

In accordance with any of the embodiments disclosed herein, the flowable material may include a first flowable material having a first color, and a second flowable material having a second color different from the first color.

In accordance with any of the embodiments disclosed herein, the first flowable material may be disposed in a first portion of the chamber interior and the second flowable material may be disposed in a second portion of the chamber interior different from the first portion.

In accordance with any of the embodiments disclosed herein, may include a barrier defining at least in part a first portion of the chamber interior and a second portion of the chamber interior, wherein in an initial state the flowable material is disposed in the first portion of the chamber interior and the second portion of the chamber interior is free of the flowable material.

This foregoing summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This summary is not intended to identify key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

DESCRIPTION OF THE DRAWINGS

FIG. 1A is a top-down plan view of an end effector with a partial cutaway, in accordance with embodiments of the present disclosure.

FIG. 1B is a side view of the end effector of FIG. 1A with a partial cutaway, in accordance with embodiments of the disclosure.

FIG. 1C is a top-down plan view of the end effector of FIG. 1A after moving the end effector, in accordance with embodiments of the disclosure.

FIG. 1D is a side view of the end effector of FIG. 1A after moving the end effector, in accordance with embodiments of the disclosure.

FIG. 2A is a top-down plan view of another end effector, in accordance with embodiments of the disclosure.

FIG. 2B is a side view of the end effector of FIG. 2A with a partial cutaway, in accordance with embodiments of the disclosure.

FIG. 3 is perspective view of a system including an end effector, in accordance with embodiments of the disclosure.

Aspects and many of the attendant advantages of the claimed subject matter will become more readily appreciated as the same become better understood by reference to the following detailed description, when taken in conjunction with the accompanying drawings.

The detailed description set forth below in connection with the appended drawings, where like numerals reference like elements, is intended as a description of various embodiments of the disclosed subject matter and is not intended to represent the only embodiments. Each embodiment described in this disclosure is provided merely as an example or illustration and should not be construed as preferred or advantageous over other embodiments. The illustrative examples provided herein are not intended to be exhaustive or to limit the claimed subject matter to the precise forms disclosed.

DETAILED DESCRIPTION

Through use an end effector, such as a brush, exfoliator, applicator, and the like, may become worn, dirty, or otherwise ready for replacement. Many conventional end effectors do not provide indicia of a wear state. In this regard, such conventional end effectors do not indicate to a user when the end effector is ready for replacement. Accordingly, a user may use an end effector when the end effector is dirty and/or is structurally damaged and no longer able to perform its function.

Toward this end, the following discussion provides examples of end effectors and systems including end effectors configured to provide indicia of a wear state of the end effector. In the examples of the end effectors and systems set forth in more detail below, several are provided that are configured to provide colorimetric or other visible indicia of a wear state of the end effector when an end effector is worn, dirty, or otherwise no longer suitable for use.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments of the present disclosure. It will be apparent to one skilled in the art, however, that many embodiments of the present disclosure may be practiced without some or all of the specific details. Further, it will be appreciated that embodiments of the present disclosure may employ any combination of features described herein.

Turning now to FIGS. 1A-1D there is shown an example of an end effector 100 in accordance with embodiments of the disclosure. In the illustrated embodiment, end effector 100 is shown to include a base portion 102 coupleable to a motor (not shown, see FIG. 3); a chamber 106 including an optically translucent window 108 and a chamber interior 110; and a flowable material 116 disposed in the chamber interior 110 and having a color. As discussed further herein, end effector 100 is configured to provide colorimetric indicia of a wear state of the end effector 100 based at least in part on mixing of the flowable material 116.

FIG. 1A is a top-down plan view of end effector 100 with a partial cutaway showing flowable material 116 disposed in chamber interior 110. FIG. 1B is a side view of the end effector 100 with a partial cutaway. FIGS. 1A and 1B illustrate end effector 100 in an initial state, such as before use or other movement of end effector 100 and before mixing of the flowable material 116. As shown through the partial cutaway, the flowable material 116 includes a first flowable material 116A having a first color, and a second flowable material 116B having a second color different from the first color. In an initial state, such as before use and movement of end effector 100, first flowable material 116A is disposed in a first portion 114A of the chamber interior 110 and the second flowable material 116B is disposed in a second portion 114B of the chamber interior 110 different from the first portion 114A.

The first flowable material 116A and second flowable material 116B are configured to mix due to movement of the end effector 100, such as when coupled to a motor and receiving motion from the motor. Such movement may include, for example, oscillatory, reciprocating, and/or rotational motion received by the end effector 100 from the motor. In this regard, as the end effector 100 is used, first flowable material 116A and second flowable material 116B mix.

FIG. 1C is a top-down plan view of the end effector 100 after moving the end effector 100. FIG. 1D is a side view of the end effector 100 after moving the end effector 100. As shown, first flowable material 116A and second flowable material 116B have mixed due to movement of the end effector 100.

As above, first flowable material 116A has a first color and second flowable material 116B has a second color different from the first color. As first flowable material 116A and second flowable material 116B mix the first color and second color are blended to additively provide a third color different from either the first color or the second color in isolation. In an embodiment, the first color and the second color are sufficiently different to provide contrast between a mixed state and an unmixed state detectable by a user. For example, in an embodiment, as the first flowable material 116A and second flowable material 116B, each having pure colors, mix the color of the flowable material 116 visible to a user transitions from bright to dull. In an embodiment, first flowable material 116A has a first color and second flowable material 116B is clear and is substantially free of color. Accordingly, in an embodiment, as the first flowable material 116A and the second flowable material 116B mix, the color of the flowable material 116 visible to a user becomes paler or more dilute from an initial state.

In an embodiment, the presence of mixed first flowable material 116A and second flowable material 116B is colorimetric indicia of a wear state of end effector 100. For example, in an embodiment the mixing of first flowable material 116A and second flowable material 116B indicates that end effector 100 is ready to be replaced due to use.

In the illustrated embodiment, the first flowable material 116A and the second flowable material 116B are present in a one:one ratio. However, in other embodiments, the first flowable material 116A and the second flowable material 116B are present in unequal amounts. In this regard, as the first flowable material 116A and the second flowable material 116B mix, a minority color is overwhelmed by a majority color of the flowable material 116 having a higher proportion.

In an embodiment, all of the chamber interior 110 in visible to a user. In this regard, a user can observe growth of a mixing zone as first flowable material 116A and second flowable material 116B mix together.

In the illustrated embodiment, viewing portions 112A and 112B of the chamber interior 110 are visible to a user through the optically translucent windows 108A and 108B. Additionally, the plurality of bristles 126 and/or other contact members (not shown) of the end effector 100 coupled to the base portion 102 of end effector 100 are positioned such that they do not generally prevent a user from being able to see the viewing portions 112A and 112B of chamber interior 110. As shown, the viewing portions 112A and 112B are distal from initial interfaces between first flowable material 116A and second flowable material 116B. Placement of optically translucent windows 108A and 108B and, accordingly, the viewing portions 112A and 112B may be selected in accordance with a desired use range before which the indicia of a wear state is presented. By placing the optically translucent windows 108A and 108B farther from initial interfaces between first flowable material 116A and second flowable material 116B, the end effector 100 presents colorimetric indicia of a wear state of end effector 100 after the end effector 100 has moved a greater amount.

In an embodiment, end effector 100 includes a tag having a tag color representative of the colorimetric indicia of a wear state of the end effector 100. Still referring to FIGS. 1A-1D, end effector 100 includes tags 124A and 124B disposed adjacent to optically translucent windows 108A and 108B. As shown in FIGS. 1C and 1D, tags 124A and 124B have a tag color that is the same as or substantially similar to a color of the flowable material 116 in a mixed state. In this regard, a user can compare a color of the flowable materials 116A and 116B visible in the viewing portions 112A and 112B and the tag color of the tags 124A and 124B at various stages of mixing. In certain embodiments, the end effector 100 provides indicia of a wear state of the end effector 100, such as an indication that the end effector 100 should be replaced, when the color of the flowable material 116 visible to a user has the same color as the tag color. In an embodiment, end effector 100 includes a number of tags each having different tag colors (not shown) indicative of various wear states of the end effector 100.

The end effector 100 may be configured to provide indicia of a wear state after a predetermined amount of use, such as after a predetermined number of oscillations, rotations, and/or reciprocations. In an embodiment, the predetermined number of oscillations, rotations, and/or reciprocations is correlated to a number of oscillations, rotations, and/or reciprocations after which the end effector 100 should likely be replaced because, for example, the end effector 100 is likely to be worn and/or dirty and no longer configured to operate in a preferred manner. In an embodiment, end effector 100 is configured to provide colorimetric indicia of use of end effector 100 in a range of 100,000 oscillations, rotations, and/or reciprocations to 10,000,000 oscillations, rotations, and/or reciprocations of end effector 100. In an embodiment, end effector 100 is configured to provide colorimetric indicia of a wear state of end effector 100 after approximately 1,000,000 oscillations, rotations, and/or reciprocations of end effector 100.

In an embodiment, end effector 100 is functional after flowable material 116 has mixed and end effector 100 has provided colorimetric indicia of a wear state of end effector 100. In this regard, for example, end effector 100 is still coupleable to a motor and configured to receive motion from the motor after end effector 100 has provided colorimetric indicia of a wear state of end effector 100.

As used herein, a flowable material refers to a material configured to mix due to movement. In an embodiment, the flowable material 116 is selected from the group consisting of powders, sands, beads, viscous liquids, and the like. In an embodiment, the flowable material 116 includes one or more powders. Typically, powders mix less with greater degrees of compaction. Accordingly, in certain embodiments, the amount of powder mixing due to movement of the end effector 100 is proportional to a compaction level of the powder.

In an embodiment, first flowable material 116A and second flowable material 116B are separated by barriers 118A and 118B in an initial state, as illustrated in FIGS. 1A and 1B. As shown, barriers 118A and 118B define at least in part a first portion 114A of the chamber interior 110 and a second portion 114B of the chamber interior 110 different than the first portion 114A. In this regard, second portion 114B of the chamber interior 110 is separated from first portion 114A of the chamber interior 110 at least in part by the barriers 118A and 118B, thereby separating first flowable material 116A from second flowable material 116B.

In an embodiment, barriers 118A and 118B are breakable by a user such that, for example, before use a user can break barriers 118A and 118B, thereby placing first flowable material 116A and second flowable material 116B in fluid communication. Breakable barriers 118A and 118B can include, for example, tabs, walls, valves, and the like. In this regard, first flowable material 116A and second flowable material 116B do not mix before use of the end effector 100, such as during shipment or storage. However, as shown in FIGS. 1C and 1D, as barriers 118A and 118B are broken or otherwise removed, such as by a user, to provide barrier apertures 120A and 120B, respectively, first flowable material 116A and second flowable material 116B are placed in fluid communication. As discussed further herein, by placing first flowable material 116A in fluid communication with second flowable material 116B and moving end effector 100, first flowable material 116A and second flowable material 116B mix to provide indicia of a wear state of end effector 100 after a suitable use interval.

In an embodiment, flowable material 116 is a viscous fluid, including viscous fluids 116A and 116B, and barrier 118 is a membrane, such as an osmotic membrane, separating viscous fluids 116A and 116B. As viscous fluids 116A and 116B pass through barrier 118, the colors of viscous fluids 116A and 116B blend to provide indicia of a wear state of end effector 100.

As above, end effector 100 is configured to couple with and receive motion from a motor. In certain embodiments, end effector 100 is configured to receive motion from the motor, such as oscillatory, reciprocating, and/or rotational motion, about a central axis 104 of end effector 100. In certain embodiments, at least a portion of chamber 106 is disposed distal from central axis 104, such as adjacent to or about a periphery 122 of end effector 100. As discussed further herein with respect to FIG. 3, as end effector 100 receives the, for example, oscillatory motion from the motor, the flowable material 116 is agitated to a greater degree than if it were disposed more proximally to the central axis 104 due to the greater displacement of the flowable material 116A at or adjacent to the periphery 122 of end effector 100. Such greater displacement generally leads to greater mixing of the flowable material 116 than if, for example, the chamber 106 were disposed at or adjacent to the central axis 104.

In an embodiment, the end effectors of the present disclosure include a chamber; a flowable material disposed in the chamber and having a color, and a barrier defining at least in part a first portion of a chamber interior and a second portion of the chamber interior, wherein the barrier includes one or more apertures configured to allow passage of the flowable material therethrough. In that regard, attention is directed to FIGS. 2A and 2B, in which an end effector 200 in accordance with embodiments of the disclosure is illustrated. As shown, end effector 200 includes a base portion 202 coupleable to a motor (not shown, see FIG. 3); a chamber 206 including an optically translucent window 208 and a chamber interior 210; a flowable material 216 disposed in the chamber interior 210 and having a color; a barrier 218 including aperture 220 configured to allow passage of the flowable material 216 therethrough, shown here coincident with central axis 204 of end effector 200; and bristles 226 coupled to base portion 202. In the illustrated embodiment, the flowable material 216 includes a plurality of beads; however, as discussed further herein the flowable material 216 can include, for example, powders, viscous fluids, and the like. Through use, such as through coupling end effector 200 to a motor and receiving motion from the motor, flowable material 216 is configured to mix, thereby providing colorimetric indicia of a wear state of end effector 200.

As above, barrier 218 defines at least in part a first portion 214A of the chamber interior 210 and a second portion 214B of the chamber interior 210 different than the first portion 214A. In certain embodiments, in an initial state, the flowable material 216 is disposed in the first portion 214A of the chamber interior 210. Further, as shown in FIG. 2A, the second portion 214B of the chamber interior 210 is free of the flowable material 216, such as in an initial state before use of end effector 200. As end effector 200 is moved, such as through use, at least a portion of flowable material 216 moves from first portion 214A of chamber interior 210 to into second portion 214B of chamber interior 210. In the illustrated embodiment, a viewing portion 212 of the chamber interior 210 including the second portion 214B of the chamber interior 210 is configured to be seen by a user. In this regard, more and more of flowable material 216 becomes visible to a user as end effector 200 is used, thus providing colorimetric indicia of a wear state of end effector 200.

The rate at which flowable material 216 enters second portion 214B of chamber interior 210 may be tuned by, for example, the number of apertures 220 in barrier 218, an amount of flowable material 216 in the chamber interior 210, and a difference in size between a diameter of the one or more apertures 220 and the flowable material 216. For example, as a smallest characteristic dimension of, for example, the plurality of beads 216 approaches the size of the one or more apertures 220, the flowable material 216 will typically enter the second portion 214B of the chamber interior 210 more slowly than if the difference were larger.

In another aspect, the present disclosure provides a system including an appliance including a motor; and an end effector configured to receive motion of the motor, wherein the end effector is configured to provide colorimetric indicia of a wear state of the end effector. In that regard, attention is directed to FIG. 3 in which a system 301 in accordance with an embodiment of the disclosure is illustrated. As shown, system 301 includes an appliance 303 including a motor 305 shown disposed in the appliance 303; and an end effector 300 configured to receive motion of the motor 305. In the illustrated embodiment, end effector 300 includes a base portion 302 coupleable to the motor 305; a chamber 306 including an optically translucent window 308 and a chamber interior 310; a flowable material 316 disposed in the chamber interior 310, and bristles 326 coupled to base portion 302. In an embodiment, end effector 300 is an example of end effectors 100 and/or 200 discussed further herein with respect to FIGS. 1A-1D and FIGS. 2A and 2B, respectively.

Flowable material 316 includes a first flowable material 316A having a first color and second flowable material 316B having a second color different than the first color. Further, first flowable material 316A and second flowable material 316B are separated by barrier 318, which define at least in part first portion 314A and second portion 314B of chamber interior 310 into which the first flowable material 316A and second flowable material 316B are respectively disposed. In the illustrated embodiment, barrier 318 has not been broken and first flowable material 316A and second flowable material 316B are not in fluid communication, such as before use of end effector 300. In this regard, first flowable material 316A and second flowable material 316B have not yet mixed. By breaking barrier 318 and moving end effector 300, such as by operating motor 305 with end effector 300 coupled thereto, flowable materials 316A and 316B mix to eventually provide colorimetric indicia of a wear state of end effector 300.

As shown, end effector 300 includes tag 324 having a tag color representative of the colorimetric indicia of a wear state of the end effector 300. As discussed further herein with respect to FIGS. 1A-1D, as first flowable material 316A and second flowable material 316B mix, a color of the mixed flowable material 316 will approach and eventually reach the tag color, thus providing the colorimetric indicia of a wear state of end effector 300. In the illustrated embodiment, the color of the flowable material 316, herein flowable material 316A, viewable through optically translucent window 308 in viewing portion 312 has a first color different than the tag color, indicating that the end effector 300 is not worn and is suitable for further use.

As above, end effector 300 is coupleable to motor 305, such as through base portion 302, and configured to receive motion from motor 305. In an embodiment, end effector 300 is configured to receive motion, such as oscillatory, reciprocating, and/or rotational motion, from motor 305 such as about central axis 304 of end effector 300. Further, in an embodiment, chamber 310 is disposed distally from central axis 304, such as adjacent to or about a periphery 322 of end effector 300. As end effector 300 receives, for example, the oscillatory motion from the motor 305, the flowable material 316 is agitated to a greater degree than if it were disposed more closely to central axis 304 due to the greater oscillation displacement of the flowable material 316 at the periphery 322 of end effector 300. Such greater oscillation displacement generally leads to greater mixing of the flowable material 316 than if, for example, the chamber interior 310 were disposed at or adjacent to central axis 304.

As above, in certain embodiments, end effector 300 includes barrier 318 defining at least in part a first portion 314A of the chamber interior 310 and a second portion 314B of the chamber interior 310 different from the first portion 314A. In an embodiment, the flowable material 316 is disposed in the first portion 314A of the chamber interior 310 the second portion 314B of the chamber interior 310 is free of the flowable material 316 in an initial state, as discussed further herein with respect to FIGS. 2A and 2B. In this regard, flowable material 316 is configured to enter into second portion 314A different from 314B as end effector 300 moves, such as when coupled to motor 305 and after movement received from motor 305.

It should be noted that for purposes of this disclosure, terminology such as “upper,” “lower,” “vertical,” “horizontal,” “inwardly,” “outwardly,” “inner,” “outer,” “front,” “rear,” etc., should be construed as descriptive and not limiting the scope of the claimed subject matter. Further, the use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless limited otherwise, the terms “connected,” “coupled,” and “mounted” and variations thereof herein are used broadly and encompass direct and indirect connections, couplings, and mountings. In some embodiments, the term “about” means plus or minus 5% of the stated value.

The principles, representative embodiments, and modes of operation of the present disclosure have been described in the foregoing description. However, aspects of the present disclosure which are intended to be protected are not to be construed as limited to the particular embodiments disclosed. Further, the embodiments described herein are to be regarded as illustrative rather than restrictive. It will be appreciated that variations and changes may be made by others, and equivalents employed, without departing from the spirit of the present disclosure. Accordingly, it is expressly intended that all such variations, changes, and equivalents fall within the spirit and scope of the present disclosure, as claimed.

While illustrative embodiments have been illustrated and described, it will be appreciated that various changes can be made therein without departing from the spirit and scope of the claimed subject matter. 

The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:
 1. An end effector comprising: a base portion coupleable to a motor; a chamber including an optically translucent window and a chamber interior; and a flowable material disposed in the chamber interior and having a color, wherein the end effector is configured to provide colorimetric indicia of a wear state of the end effector based at least in part on mixing of the flowable material.
 2. The end effector of claim 1, wherein the flowable material includes a first flowable material having a first color, and a second flowable material having a second color different from the first color.
 3. The end effector of claim 2, wherein in an initial state the first flowable material is disposed in a first portion of the chamber interior and the second flowable material is disposed in a second portion of the chamber interior different from the first portion.
 4. The end effector of claim 2, wherein the first flowable material and the second flowable material are configured to mix due to movement of the end effector.
 5. The end effector of claim 1, wherein the flowable material is selected from the group consisting of a powder, a plurality of beads, a viscous fluid, and combinations thereof.
 6. The end effector of claim 1, further comprising a barrier defining at least in part a first portion of the chamber interior and a second portion of the chamber interior different than the first portion.
 7. The end effector of claim 6, wherein the second portion of the chamber interior is separated from the first portion of the chamber interior at least in part by the barrier, and wherein the barrier is breakable by a user such that when the barrier is broken the first portion of the chamber interior and the second portion of the chamber interior are in fluid communication.
 8. The end effector of claim 6, wherein the barrier includes one or more apertures configured to allow passage of the flowable material therethrough.
 9. The end effector of claim 8, wherein in an initial state the flowable material is disposed in the first portion of the chamber interior.
 10. The end effector of claim 9, wherein in an initial state the second portion of the chamber interior is free of the flowable material.
 11. The end effector of claim 9, wherein the flowable material is configured to enter the second portion of the chamber interior due to motion of the end effector.
 12. The end effector of claim 1, wherein at least a portion of the chamber is disposed adjacent to a periphery of the base portion.
 13. The end effector of claim 1, wherein a viewing portion of the chamber interior is visible to a user through the optically translucent window.
 14. The end effector of claim 1, further comprising a tag having a tag color representative of the colorimetric indicia of a wear state of the end effector.
 15. The end effector of claim 14, wherein the tag color is a color of the flowable material in a mixed state.
 16. A system comprising: an appliance including a motor; and an end effector configured to receive motion of the motor, the end effector including: a base portion coupleable to the motor; a chamber including an optically translucent window and a chamber interior; and a flowable material disposed in the chamber interior and having a color, wherein the end effector is configured to provide colorimetric indicia of a wear state of the end effector based at least in part on mixing of the flowable material.
 17. The system of claim 16, wherein the end effector is configured to receive motion from the motor about a central axis of the end effector, and wherein at least a portion of the chamber is disposed adjacent to a periphery of the end effector distal the central axis.
 18. The system of claim 16, wherein the flowable material includes a first flowable material having a first color, and a second flowable material having a second color different from the first color.
 19. The system of claim 18, wherein the first flowable material is disposed in a first portion of the chamber interior and the second flowable material is disposed in a second portion of the chamber interior different from the first portion.
 20. The system of claim 16, further comprising a barrier defining at least in part a first portion of the chamber interior and a second portion of the chamber interior, wherein in an initial state the flowable material is disposed in the first portion of the chamber interior and the second portion of the chamber interior is free of the flowable material. 